/* GStreamer
 *
 * Copyright 2019 Rockchip Electronics Co., Ltd
 *     Author: Leo Wen <leo.wen@rock-chips.com>
 *
 * gstrkv4l2src.c: Rockchip Video4Linux2 source element
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Library General Public
 * License as published by the Free Software Foundation; either
 * version 2 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Library General Public License for more details.
 *
 * You should have received a copy of the GNU Library General Public
 * License along with this library; if not, write to the
 * Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
 * Boston, MA 02110-1301, USA.
 */

/**
 * SECTION:element-rkv4l2src
 *
 * rkv4l2src can be used to capture video from Rockchip v4l2 devices.
 *
 * <refsect2>
 * <title>Example launch lines</title>
 * |[
 * gst-launch-1.0 rkv4l2src device=/dev/video0 ! videoconvert ! \
 * video/x-raw,format=NV12,width=640,height=480  ! autovideosink
 * ]| This pipeline shows the video captured from /dev/video0 for camera.
 *
 * Since 1.14, the use of libv4l2 has been disabled due to major bugs in the
 * emulation layer. To enable usage of this library, set the environment
 * variable GST_V4L2_USE_LIBV4L2=1.
 */

#ifdef HAVE_CONFIG_H
#include <config.h>
#endif

#include <string.h>
#include <sys/time.h>
#include <unistd.h>

#include <gst/video/gstvideometa.h>
#include <gst/video/gstvideopool.h>

#include "common.h"
#include "gstrkv4l2src.h"
#include "rkisp/rkisp_control_loop.h"
#include "gst/gst-i18n-plugin.h"

GST_DEBUG_CATEGORY (rkv4l2src_debug);
#define GST_CAT_DEFAULT rkv4l2src_debug

#define DEFAULT_PROP_DEVICE   "/dev/video0"

enum
{
  PROP_0,
  V4L2_STD_OBJECT_PROPS,
  PROP_LAST
};

/* signals and args */
enum
{
  SIGNAL_PRE_SET_FORMAT,
  LAST_SIGNAL
};

static guint gst_v4l2_signals[LAST_SIGNAL] = { 0 };

static void gst_rkv4l2src_uri_handler_init (gpointer g_iface,
    gpointer iface_data);

#define gst_rkv4l2src_parent_class parent_class
G_DEFINE_TYPE_WITH_CODE (GstRKV4l2Src, gst_rkv4l2src, GST_TYPE_PUSH_SRC,
    G_IMPLEMENT_INTERFACE (GST_TYPE_URI_HANDLER, gst_rkv4l2src_uri_handler_init));

static void gst_rkv4l2src_finalize (GstRKV4l2Src * rkv4l2src);

/* element methods */
static GstStateChangeReturn gst_rkv4l2src_change_state (GstElement * element,
    GstStateChange transition);

/* basesrc methods */
static gboolean gst_rkv4l2src_start (GstBaseSrc * src);
static gboolean gst_rkv4l2src_unlock (GstBaseSrc * src);
static gboolean gst_rkv4l2src_unlock_stop (GstBaseSrc * src);
static gboolean gst_rkv4l2src_stop (GstBaseSrc * src);
static GstCaps *gst_rkv4l2src_get_caps (GstBaseSrc * src, GstCaps * filter);
static gboolean gst_rkv4l2src_query (GstBaseSrc * bsrc, GstQuery * query);
static gboolean gst_rkv4l2src_decide_allocation (GstBaseSrc * src,
    GstQuery * query);
static GstFlowReturn gst_rkv4l2src_create (GstPushSrc * src, GstBuffer ** out);
static GstCaps *gst_rkv4l2src_fixate (GstBaseSrc * basesrc, GstCaps * caps,
    GstStructure * pref_s);
static gboolean gst_rkv4l2src_negotiate (GstBaseSrc * basesrc);

static void gst_rkv4l2src_set_property (GObject * object, guint prop_id,
    const GValue * value, GParamSpec * pspec);
static void gst_rkv4l2src_get_property (GObject * object, guint prop_id,
    GValue * value, GParamSpec * pspec);

static void
gst_rkv4l2src_class_init (GstRKV4l2SrcClass * klass)
{
  GObjectClass *gobject_class;
  GstElementClass *element_class;
  GstBaseSrcClass *basesrc_class;
  GstPushSrcClass *pushsrc_class;

  gobject_class = G_OBJECT_CLASS (klass);
  element_class = GST_ELEMENT_CLASS (klass);
  basesrc_class = GST_BASE_SRC_CLASS (klass);
  pushsrc_class = GST_PUSH_SRC_CLASS (klass);

  gobject_class->finalize = (GObjectFinalizeFunc) gst_rkv4l2src_finalize;
  gobject_class->set_property = gst_rkv4l2src_set_property;
  gobject_class->get_property = gst_rkv4l2src_get_property;

  element_class->change_state = gst_rkv4l2src_change_state;

  gst_v4l2_object_install_properties_helper (gobject_class,
      DEFAULT_PROP_DEVICE);
  rk_common_install_rockchip_properties_helper (gobject_class);
  /**
   * GstRKV4l2Src::prepare-format:
   * @rkv4l2src: the rkv4l2src instance
   * @fd: the file descriptor of the current device
   * @caps: the caps of the format being set
   *
   * This signal gets emitted before calling the v4l2 VIDIOC_S_FMT ioctl
   * (set format). This allows for any custom configuration of the device to
   * happen prior to the format being set.
   * This is mostly useful for UVC H264 encoding cameras which need the H264
   * Probe & Commit to happen prior to the normal Probe & Commit.
   */
  gst_v4l2_signals[SIGNAL_PRE_SET_FORMAT] = g_signal_new ("prepare-format",
      G_TYPE_FROM_CLASS (klass),
      G_SIGNAL_RUN_LAST,
      0, NULL, NULL, NULL, G_TYPE_NONE, 2, G_TYPE_INT, GST_TYPE_CAPS);

  gst_element_class_set_static_metadata (element_class,
      "Rockchip Video (video4linux2) Source", "Source/Video",
      "Reads frames from a Rockchip Video4Linux2 device",
      "Leo Wen <leo.wen@rock-chips.com>");

  gst_element_class_add_pad_template
      (element_class,
      gst_pad_template_new ("src", GST_PAD_SRC, GST_PAD_ALWAYS,
          gst_v4l2_object_get_all_caps ()));

  basesrc_class->get_caps = GST_DEBUG_FUNCPTR (gst_rkv4l2src_get_caps);
  basesrc_class->start = GST_DEBUG_FUNCPTR (gst_rkv4l2src_start);
  basesrc_class->unlock = GST_DEBUG_FUNCPTR (gst_rkv4l2src_unlock);
  basesrc_class->unlock_stop = GST_DEBUG_FUNCPTR (gst_rkv4l2src_unlock_stop);
  basesrc_class->stop = GST_DEBUG_FUNCPTR (gst_rkv4l2src_stop);
  basesrc_class->query = GST_DEBUG_FUNCPTR (gst_rkv4l2src_query);
  basesrc_class->negotiate = GST_DEBUG_FUNCPTR (gst_rkv4l2src_negotiate);
  basesrc_class->decide_allocation =
      GST_DEBUG_FUNCPTR (gst_rkv4l2src_decide_allocation);

  pushsrc_class->create = GST_DEBUG_FUNCPTR (gst_rkv4l2src_create);

  klass->v4l2_class_devices = NULL;

  GST_DEBUG_CATEGORY_INIT (rkv4l2src_debug, "rkv4l2src", 0, "Rockchip V4L2 source element");
}

static void
gst_rkv4l2src_init (GstRKV4l2Src * rkv4l2src)
{
  /* fixme: give an update_fps_function */
  rkv4l2src->v4l2object = gst_v4l2_object_new (GST_ELEMENT (rkv4l2src),
      GST_OBJECT (GST_BASE_SRC_PAD (rkv4l2src)), V4L2_BUF_TYPE_VIDEO_CAPTURE,
      DEFAULT_PROP_DEVICE, gst_v4l2_get_input, gst_v4l2_set_input, NULL);

  /* Avoid the slow probes */
  rkv4l2src->v4l2object->skip_try_fmt_probes = TRUE;

  gst_base_src_set_format (GST_BASE_SRC (rkv4l2src), GST_FORMAT_TIME);
  gst_base_src_set_live (GST_BASE_SRC (rkv4l2src), TRUE);
}


static void
gst_rkv4l2src_finalize (GstRKV4l2Src * rkv4l2src)
{
  void *rkisp_engine = rkv4l2src->rkisp_engine;

  if (rkisp_engine)
    rkisp_cl_deinit (rkisp_engine);

  gst_v4l2_object_destroy (rkv4l2src->v4l2object);

  G_OBJECT_CLASS (parent_class)->finalize ((GObject *) (rkv4l2src));
}


static void
gst_rkv4l2src_set_property (GObject * object,
    guint prop_id, const GValue * value, GParamSpec * pspec)
{
  GstRKV4l2Src *rkv4l2src = GST_RKV4L2SRC (object);

  if (!gst_v4l2_object_set_property_helper (rkv4l2src->v4l2object,
          prop_id, value, pspec)) {
    if (!rk_common_set_property_helper (rkv4l2src->v4l2object,
        prop_id, value, pspec)) {
      switch (prop_id) {
        default:
          G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
          break;
      }
    }
  }
}

static void
gst_rkv4l2src_get_property (GObject * object,
    guint prop_id, GValue * value, GParamSpec * pspec)
{
  GstRKV4l2Src *rkv4l2src = GST_RKV4L2SRC (object);

  if (!gst_v4l2_object_get_property_helper (rkv4l2src->v4l2object,
          prop_id, value, pspec)) {
    if (!rk_common_get_property_helper (rkv4l2src->v4l2object,
            prop_id, value, pspec)) {
      switch (prop_id) {
        default:
          G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
          break;
      }
    }
  }
}

struct PreferedCapsInfo
{
  gint width;
  gint height;
  gint fps_n;
  gint fps_d;
};

static gboolean
gst_vl42_src_fixate_fields (GQuark field_id, GValue * value, gpointer user_data)
{
  GstStructure *s = user_data;

  if (field_id == g_quark_from_string ("interlace-mode"))
    return TRUE;

  if (field_id == g_quark_from_string ("colorimetry"))
    return TRUE;

  gst_structure_fixate_field (s, g_quark_to_string (field_id));

  return TRUE;
}

static void
gst_rkv4l2_src_fixate_struct_with_preference (GstStructure * s,
    struct PreferedCapsInfo *pref)
{
  if (gst_structure_has_field (s, "width"))
    gst_structure_fixate_field_nearest_int (s, "width", pref->width);

  if (gst_structure_has_field (s, "height"))
    gst_structure_fixate_field_nearest_int (s, "height", pref->height);

  if (gst_structure_has_field (s, "framerate"))
    gst_structure_fixate_field_nearest_fraction (s, "framerate", pref->fps_n,
        pref->fps_d);

  /* Finally, fixate everything else except the interlace-mode and colorimetry
   * which still need further negotiation as it wasn't probed */
  gst_structure_map_in_place (s, gst_vl42_src_fixate_fields, s);
}

static void
gst_rkv4l2_src_parse_fixed_struct (GstStructure * s,
    gint * width, gint * height, gint * fps_n, gint * fps_d)
{
  if (gst_structure_has_field (s, "width") && width)
    gst_structure_get_int (s, "width", width);

  if (gst_structure_has_field (s, "height") && height)
    gst_structure_get_int (s, "height", height);

  if (gst_structure_has_field (s, "framerate") && fps_n && fps_d)
    gst_structure_get_fraction (s, "framerate", fps_n, fps_d);
}

/* TODO Consider framerate */
static gint
gst_rkv4l2src_fixed_caps_compare (GstStructure * a, GstStructure * b,
    struct PreferedCapsInfo *pref)
{
  gint aw = G_MAXINT, ah = G_MAXINT, ad = G_MAXINT;
  gint bw = G_MAXINT, bh = G_MAXINT, bd = G_MAXINT;
  gint ret;

  gst_rkv4l2_src_parse_fixed_struct (a, &aw, &ah, NULL, NULL);
  gst_rkv4l2_src_parse_fixed_struct (b, &bw, &bh, NULL, NULL);

  /* When both are smaller then pref, just append to the end */
  if ((bw < pref->width || bh < pref->height)
      && (aw < pref->width || ah < pref->height)) {
    ret = 1;
    goto done;
  }

  /* If a is smaller then pref and not b, then a goes after b */
  if (aw < pref->width || ah < pref->height) {
    ret = 1;
    goto done;
  }

  /* If b is smaller then pref and not a, then a goes before b */
  if (bw < pref->width || bh < pref->height) {
    ret = -1;
    goto done;
  }

  /* Both are larger or equal to the preference, prefer the smallest */
  ad = MAX (1, aw - pref->width) * MAX (1, ah - pref->height);
  bd = MAX (1, bw - pref->width) * MAX (1, bh - pref->height);

  /* Adjust slightly in case width/height matched the preference */
  if (aw == pref->width)
    ad -= 1;

  if (ah == pref->height)
    ad -= 1;

  if (bw == pref->width)
    bd -= 1;

  if (bh == pref->height)
    bd -= 1;

  /* If the choices are equivalent, maintain the order */
  if (ad == bd)
    ret = 1;
  else
    ret = ad - bd;

done:
  GST_TRACE ("Placing %ix%i (%s) %s %ix%i (%s)", aw, ah,
      gst_structure_get_string (a, "format"), ret > 0 ? "after" : "before", bw,
      bh, gst_structure_get_string (b, "format"));
  return ret;
}

static gboolean
gst_rkv4l2src_set_format (GstRKV4l2Src * rkv4l2src, GstCaps * caps,
    GstV4l2Error * error)
{
  GstV4l2Object *obj;

  obj = rkv4l2src->v4l2object;

  /* make sure we stop capturing and dealloc buffers */
  if (!gst_v4l2_object_stop (obj))
    return FALSE;

  g_signal_emit (rkv4l2src, gst_v4l2_signals[SIGNAL_PRE_SET_FORMAT], 0,
      rkv4l2src->v4l2object->video_fd, caps);

  return gst_v4l2_object_set_format (obj, caps, error);
}

static GstCaps *
gst_rkv4l2src_fixate (GstBaseSrc * basesrc, GstCaps * caps, GstStructure * pref_s)
{
  /* Let's prefer a good resolutiion as of today's standard. */
  struct PreferedCapsInfo pref = {
    3840, 2160, 120, 1
  };
  GstRKV4l2Src *rkv4l2src = GST_RKV4L2SRC (basesrc);
  GstV4l2Object *obj = rkv4l2src->v4l2object;
  GList *caps_list = NULL;
  GstStructure *s;
  gint i = G_MAXINT;
  GstV4l2Error error = GST_V4L2_ERROR_INIT;
  GstCaps *fcaps = NULL;

  GST_DEBUG_OBJECT (basesrc, "fixating caps %" GST_PTR_FORMAT, caps);

  caps = gst_caps_make_writable (caps);

  /* We consider the first structure from peercaps to be a preference. This is
   * useful for matching a reported native display, or simply to avoid
   * transformation to happen downstream. */
  if (pref_s) {
    pref_s = gst_structure_copy (pref_s);
    gst_rkv4l2_src_fixate_struct_with_preference (pref_s, &pref);
    gst_rkv4l2_src_parse_fixed_struct (pref_s, &pref.width, &pref.height,
        &pref.fps_n, &pref.fps_d);
    gst_structure_free (pref_s);
  }

  GST_DEBUG_OBJECT (basesrc, "Prefered size %ix%i", pref.width, pref.height);

  /* Sort the structures to get the caps that is nearest to our preferences,
   * first */
  while ((s = gst_caps_steal_structure (caps, 0))) {
    gst_rkv4l2_src_fixate_struct_with_preference (s, &pref);
    caps_list = g_list_insert_sorted_with_data (caps_list, s,
        (GCompareDataFunc) gst_rkv4l2src_fixed_caps_compare, &pref);
  }

  while (caps_list) {
    s = caps_list->data;
    caps_list = g_list_delete_link (caps_list, caps_list);
    gst_caps_append_structure (caps, s);
  }

  GST_DEBUG_OBJECT (basesrc, "sorted and normalized caps %" GST_PTR_FORMAT,
      caps);

  /* Each structure in the caps has been fixated, except for the
   * interlace-mode and colorimetry. Now normalize the caps so we can
   * enumerate the possibilities */
  caps = gst_caps_normalize (caps);

  for (i = 0; i < gst_caps_get_size (caps); ++i) {
    gst_v4l2_clear_error (&error);
    if (fcaps)
      gst_caps_unref (fcaps);

    fcaps = gst_caps_copy_nth (caps, i);

    if (GST_V4L2_IS_ACTIVE (obj)) {
      /* try hard to avoid TRY_FMT since some UVC camera just crash when this
       * is called at run-time. */
      if (gst_v4l2_object_caps_is_subset (obj, fcaps)) {
        gst_caps_unref (fcaps);
        fcaps = gst_v4l2_object_get_current_caps (obj);
        break;
      }

      /* Just check if the format is acceptable, once we know
       * no buffers should be outstanding we try S_FMT.
       *
       * Basesrc will do an allocation query that
       * should indirectly reclaim buffers, after that we can
       * set the format and then configure our pool */
      if (gst_v4l2_object_try_format (obj, fcaps, &error)) {
        /* make sure the caps changed before doing anything */
        if (gst_v4l2_object_caps_equal (obj, fcaps))
          break;

        rkv4l2src->renegotiation_adjust = rkv4l2src->offset + 1;
        rkv4l2src->pending_set_fmt = TRUE;
        break;
      }
    } else {
      if (gst_rkv4l2src_set_format (rkv4l2src, fcaps, &error))
        break;
    }

    /* Only EIVAL make sense, report any other errors, this way we don't keep
     * probing if the device got disconnected, or if it's firmware stopped
     * responding */
    if (error.error->code != GST_RESOURCE_ERROR_SETTINGS) {
      i = G_MAXINT;
      break;
    }
  }

  if (i >= gst_caps_get_size (caps)) {
    gst_v4l2_error (rkv4l2src, &error);
    if (fcaps)
      gst_caps_unref (fcaps);
    gst_caps_unref (caps);
    return NULL;
  }

  gst_caps_unref (caps);

  GST_DEBUG_OBJECT (basesrc, "fixated caps %" GST_PTR_FORMAT, fcaps);

  return fcaps;
}

static gboolean
gst_rkv4l2src_negotiate (GstBaseSrc * basesrc)
{
  GstCaps *thiscaps;
  GstCaps *caps = NULL;
  GstCaps *peercaps = NULL;
  gboolean result = FALSE;

  /* first see what is possible on our source pad */
  thiscaps = gst_pad_query_caps (GST_BASE_SRC_PAD (basesrc), NULL);
  GST_DEBUG_OBJECT (basesrc, "caps of src: %" GST_PTR_FORMAT, thiscaps);

  /* nothing or anything is allowed, we're done */
  if (thiscaps == NULL || gst_caps_is_any (thiscaps))
    goto no_nego_needed;

  /* get the peer caps without a filter as we'll filter ourselves later on */
  peercaps = gst_pad_peer_query_caps (GST_BASE_SRC_PAD (basesrc), NULL);
  GST_DEBUG_OBJECT (basesrc, "caps of peer: %" GST_PTR_FORMAT, peercaps);
  if (peercaps && !gst_caps_is_any (peercaps)) {
    /* Prefer the first caps we are compatible with that the peer proposed */
    caps = gst_caps_intersect_full (peercaps, thiscaps,
        GST_CAPS_INTERSECT_FIRST);

    GST_DEBUG_OBJECT (basesrc, "intersect: %" GST_PTR_FORMAT, caps);

    gst_caps_unref (thiscaps);
  } else {
    /* no peer or peer have ANY caps, work with our own caps then */
    caps = thiscaps;
  }

  if (caps) {
    /* now fixate */
    if (!gst_caps_is_empty (caps)) {
      GstStructure *pref = NULL;

      if (peercaps && !gst_caps_is_any (peercaps))
        pref = gst_caps_get_structure (peercaps, 0);

      caps = gst_rkv4l2src_fixate (basesrc, caps, pref);

      /* Fixating may fail as we now set the selected format */
      if (!caps) {
        result = FALSE;
        goto done;
      }

      GST_DEBUG_OBJECT (basesrc, "fixated to: %" GST_PTR_FORMAT, caps);

      if (gst_caps_is_any (caps)) {
        /* hmm, still anything, so element can do anything and
         * nego is not needed */
        result = TRUE;
      } else if (gst_caps_is_fixed (caps)) {
        /* yay, fixed caps, use those then */
        result = gst_base_src_set_caps (basesrc, caps);
      }
    }
    gst_caps_unref (caps);
  }

done:
  if (peercaps)
    gst_caps_unref (peercaps);

  return result;

no_nego_needed:
  {
    GST_DEBUG_OBJECT (basesrc, "no negotiation needed");
    if (thiscaps)
      gst_caps_unref (thiscaps);
    return TRUE;
  }
}

static GstCaps *
gst_rkv4l2src_get_caps (GstBaseSrc * src, GstCaps * filter)
{
  GstRKV4l2Src *rkv4l2src;
  GstV4l2Object *obj;

  rkv4l2src = GST_RKV4L2SRC (src);
  obj = rkv4l2src->v4l2object;

  if (!GST_V4L2_IS_OPEN (obj)) {
    return gst_pad_get_pad_template_caps (GST_BASE_SRC_PAD (rkv4l2src));
  }

  return gst_v4l2_object_get_caps (obj, filter);
}

static gboolean
gst_rkv4l2src_decide_allocation (GstBaseSrc * bsrc, GstQuery * query)
{
  GstRKV4l2Src *src = GST_RKV4L2SRC (bsrc);
  gboolean ret = TRUE;

  if (src->pending_set_fmt) {
    GstCaps *caps = gst_pad_get_current_caps (GST_BASE_SRC_PAD (bsrc));
    GstV4l2Error error = GST_V4L2_ERROR_INIT;

    caps = gst_caps_make_writable (caps);
    if (!(ret = gst_rkv4l2src_set_format (src, caps, &error)))
      gst_v4l2_error (src, &error);

    gst_caps_unref (caps);
    src->pending_set_fmt = FALSE;
  } else if (gst_buffer_pool_is_active (src->v4l2object->pool)) {
    /* Trick basesrc into not deactivating the active pool. Renegotiating here
     * would otherwise turn off and on the camera. */
    GstAllocator *allocator;
    GstAllocationParams params;
    GstBufferPool *pool;

    gst_base_src_get_allocator (bsrc, &allocator, &params);
    pool = gst_base_src_get_buffer_pool (bsrc);

    if (gst_query_get_n_allocation_params (query))
      gst_query_set_nth_allocation_param (query, 0, allocator, &params);
    else
      gst_query_add_allocation_param (query, allocator, &params);

    if (gst_query_get_n_allocation_pools (query))
      gst_query_set_nth_allocation_pool (query, 0, pool,
          src->v4l2object->info.size, 1, 0);
    else
      gst_query_add_allocation_pool (query, pool, src->v4l2object->info.size, 1,
          0);

    if (pool)
      gst_object_unref (pool);
    if (allocator)
      gst_object_unref (allocator);

    return GST_BASE_SRC_CLASS (parent_class)->decide_allocation (bsrc, query);
  }

  if (ret) {
    ret = gst_v4l2_object_decide_allocation (src->v4l2object, query);
    if (ret)
      ret = GST_BASE_SRC_CLASS (parent_class)->decide_allocation (bsrc, query);
  }

  if (ret) {
    if (!gst_buffer_pool_set_active (src->v4l2object->pool, TRUE))
      goto activate_failed;
  }

  return ret;

activate_failed:
  {
    GST_ELEMENT_ERROR (src, RESOURCE, SETTINGS,
        (_("Failed to allocate required memory.")),
        ("Buffer pool activation failed"));
    return FALSE;
  }
}

static gboolean
gst_rkv4l2src_query (GstBaseSrc * bsrc, GstQuery * query)
{
  GstRKV4l2Src *src;
  GstV4l2Object *obj;
  gboolean res = FALSE;

  src = GST_RKV4L2SRC (bsrc);
  obj = src->v4l2object;

  switch (GST_QUERY_TYPE (query)) {
    case GST_QUERY_LATENCY:{
      GstClockTime min_latency, max_latency;
      guint32 fps_n, fps_d;
      guint num_buffers = 0;

      /* device must be open */
      if (!GST_V4L2_IS_OPEN (obj)) {
        GST_WARNING_OBJECT (src,
            "Can't give latency since device isn't open !");
        goto done;
      }

      fps_n = GST_V4L2_FPS_N (obj);
      fps_d = GST_V4L2_FPS_D (obj);

      /* we must have a framerate */
      if (fps_n <= 0 || fps_d <= 0) {
        GST_WARNING_OBJECT (src,
            "Can't give latency since framerate isn't fixated !");
        goto done;
      }

      /* min latency is the time to capture one frame */
      min_latency = gst_util_uint64_scale_int (GST_SECOND, fps_d, fps_n);

      /* max latency is total duration of the frame buffer */
      if (obj->pool != NULL)
        num_buffers = GST_V4L2_BUFFER_POOL_CAST (obj->pool)->max_latency;

      if (num_buffers == 0)
        max_latency = -1;
      else
        max_latency = num_buffers * min_latency;

      GST_DEBUG_OBJECT (bsrc,
          "report latency min %" GST_TIME_FORMAT " max %" GST_TIME_FORMAT,
          GST_TIME_ARGS (min_latency), GST_TIME_ARGS (max_latency));

      /* we are always live, the min latency is 1 frame and the max latency is
       * the complete buffer of frames. */
      gst_query_set_latency (query, TRUE, min_latency, max_latency);

      res = TRUE;
      break;
    }
    default:
      res = GST_BASE_SRC_CLASS (parent_class)->query (bsrc, query);
      break;
  }

done:

  return res;
}

/* start and stop are not symmetric -- start will open the device, but not start
 * capture. it's setcaps that will start capture, which is called via basesrc's
 * negotiate method. stop will both stop capture and close the device.
 */
static gboolean
gst_rkv4l2src_start (GstBaseSrc * src)
{
  GstRKV4l2Src *rkv4l2src = GST_RKV4L2SRC (src);
  void *rkisp_engine;
  struct v4l2_capability capability;
  struct rkisp_cl_prepare_params_s params = {0};
  int fd;

  rkv4l2src->offset = 0;
  rkv4l2src->renegotiation_adjust = 0;

  /* activate settings for first frame */
  rkv4l2src->ctrl_time = 0;
  gst_object_sync_values (GST_OBJECT (src), rkv4l2src->ctrl_time);

  rkv4l2src->has_bad_timestamp = FALSE;
  rkv4l2src->last_timestamp = 0;

  fd = open(rkv4l2src->v4l2object->videodev, O_RDONLY);
  if (fd < 0) {
        GST_ERROR_OBJECT (rkv4l2src, "Can't open %s node", rkv4l2src->v4l2object->videodev);
  }

  if (ioctl(fd, VIDIOC_QUERYCAP, &capability) < 0) {
    GST_ERROR_OBJECT (rkv4l2src, "Video device %s query capability not supported.", rkv4l2src->v4l2object->videodev);
    close(fd);
    return FALSE;
  }
  close(fd);

  if (strstr((char*)(capability.driver), "rkisp")) {
    /* rkisp init */
    rkisp_cl_init (&rkisp_engine, rkv4l2src->v4l2object->xml_path, NULL);
    rkv4l2src->rkisp_engine = rkisp_engine;

    rkv4l2src->controller =
        gst_media_controller_new_by_vnode (rkv4l2src->v4l2object->videodev);
    if (!rkv4l2src->controller){
      GST_DEBUG_OBJECT (rkv4l2src,
          "Can't find controller, maybe use a wrong video-node or wrong permission to media node");
      return FALSE;
    }

    rkv4l2src->main_path =
        gst_media_find_entity_by_name (rkv4l2src->controller, "rkisp1_mainpath");
    rkv4l2src->self_path =
        gst_media_find_entity_by_name (rkv4l2src->controller, "rkisp1_selfpath");
    rkv4l2src->isp_subdev =
        gst_media_find_entity_by_name (rkv4l2src->controller, "rkisp1-isp-subdev");
    rkv4l2src->isp_params_dev =
        gst_media_find_entity_by_name (rkv4l2src->controller,
        "rkisp1-input-params");
    rkv4l2src->isp_stats_dev =
        gst_media_find_entity_by_name (rkv4l2src->controller, "rkisp1-statistics");
    /*rkv4l2src->phy_subdev =
        gst_media_find_entity_by_name (rkv4l2src->controller,
        "rockchip-sy-mipi-dphy");*/

    rkv4l2src->sensor_subdev = gst_media_find_entity_by_type(
        rkv4l2src->controller, MEDIA_ENT_T_V4L2_SUBDEV_SENSOR);
    if (!rkv4l2src->sensor_subdev) {
        GST_ERROR_OBJECT (rkv4l2src, "Can't get sensor subdev from media device");
        return FALSE;
    }

    rkv4l2src->lens_subdev = gst_media_find_entity_by_type(
        rkv4l2src->controller, MEDIA_ENT_T_V4L2_SUBDEV_LENS);
    if (!rkv4l2src->lens_subdev) {
        GST_ERROR_OBJECT (rkv4l2src, "Can't get lens subdev from media device");
    } else {
        params.lens_sd_node_path = media_entity_get_devname (rkv4l2src->lens_subdev);
    }

    if (strcmp (rkv4l2src->v4l2object->videodev,
            media_entity_get_devname (rkv4l2src->main_path)))
      GST_INFO_OBJECT (rkv4l2src, "Using ISP self path");
    else
      GST_INFO_OBJECT (rkv4l2src, "Using ISP main path");
    params.isp_sd_node_path = media_entity_get_devname (rkv4l2src->isp_subdev);
    params.isp_vd_params_path = media_entity_get_devname (rkv4l2src->isp_params_dev);
    params.isp_vd_stats_path = media_entity_get_devname (rkv4l2src->isp_stats_dev);
    params.sensor_sd_node_path = media_entity_get_devname (rkv4l2src->sensor_subdev);
    rkisp_cl_prepare (rkisp_engine, &params);
    rkisp_cl_start (rkisp_engine);
    gst_media_controller_delete (rkv4l2src->controller);
  } else if (strstr((char*)(capability.driver), "cif")) {
    GST_INFO_OBJECT (rkv4l2src, "Using CIF media node");
  } else if (strstr((char*)(capability.driver), "uvc")) {
    GST_INFO_OBJECT (rkv4l2src, "Using UVC media node");
  } else {
    GST_INFO_OBJECT (rkv4l2src, "Using unknow media node");
  }
  return TRUE;
}

static gboolean
gst_rkv4l2src_unlock (GstBaseSrc * src)
{
  GstRKV4l2Src *rkv4l2src = GST_RKV4L2SRC (src);
  return gst_v4l2_object_unlock (rkv4l2src->v4l2object);
}

static gboolean
gst_rkv4l2src_unlock_stop (GstBaseSrc * src)
{
  GstRKV4l2Src *rkv4l2src = GST_RKV4L2SRC (src);

  rkv4l2src->last_timestamp = 0;

  return gst_v4l2_object_unlock_stop (rkv4l2src->v4l2object);
}

static gboolean
gst_rkv4l2src_stop (GstBaseSrc * src)
{
  GstRKV4l2Src *rkv4l2src = GST_RKV4L2SRC (src);
  GstV4l2Object *obj = rkv4l2src->v4l2object;

  if (GST_V4L2_IS_ACTIVE (obj)) {
    if (!gst_v4l2_object_stop (obj))
      return FALSE;
  }

  rkv4l2src->pending_set_fmt = FALSE;

  return TRUE;
}

static GstStateChangeReturn
gst_rkv4l2src_change_state (GstElement * element, GstStateChange transition)
{
  GstStateChangeReturn ret = GST_STATE_CHANGE_SUCCESS;
  GstRKV4l2Src *rkv4l2src = GST_RKV4L2SRC (element);
  GstV4l2Object *obj = rkv4l2src->v4l2object;
  void *rkisp_engine = NULL;

  rkisp_engine = rkv4l2src->rkisp_engine;

  switch (transition) {
    case GST_STATE_CHANGE_NULL_TO_READY:
      /* open the device */
      if (!gst_v4l2_object_open (obj))
        return GST_STATE_CHANGE_FAILURE;
      break;
      case GST_STATE_CHANGE_PLAYING_TO_PAUSED:
      /* 3A should be stopped before stoping capture */
      if (rkisp_engine)
        rkisp_cl_stop (rkisp_engine);
      break;
    case GST_STATE_CHANGE_PAUSED_TO_PLAYING:
      /* 3A should be stopped before stoping capture */
      /* rkisp_cl_start() remove to gst_rkv4l2src_start()*/
      break;
    default:
      break;
  }

  ret = GST_ELEMENT_CLASS (parent_class)->change_state (element, transition);

  switch (transition) {
    case GST_STATE_CHANGE_READY_TO_NULL:
      /* close the device */
      if (!gst_v4l2_object_close (obj))
        return GST_STATE_CHANGE_FAILURE;

      break;
    default:
      break;
  }

  return ret;
}

static GstFlowReturn
gst_rkv4l2src_create (GstPushSrc * src, GstBuffer ** buf)
{
  GstRKV4l2Src *rkv4l2src = GST_RKV4L2SRC (src);
  GstV4l2Object *obj = rkv4l2src->v4l2object;
  GstV4l2BufferPool *pool = GST_V4L2_BUFFER_POOL_CAST (obj->pool);
  GstFlowReturn ret;
  GstClock *clock;
  GstClockTime abs_time, base_time, timestamp, duration;
  GstClockTime delay;
  GstMessage *qos_msg;

  do {
    ret = GST_BASE_SRC_CLASS (parent_class)->alloc (GST_BASE_SRC (src), 0,
        obj->info.size, buf);

    if (G_UNLIKELY (ret != GST_FLOW_OK))
      goto alloc_failed;

    ret = gst_v4l2_buffer_pool_process (pool, buf);

  } while (ret == GST_V4L2_FLOW_CORRUPTED_BUFFER);

  if (G_UNLIKELY (ret != GST_FLOW_OK))
    goto error;

  timestamp = GST_BUFFER_TIMESTAMP (*buf);
  duration = obj->duration;

  /* timestamps, LOCK to get clock and base time. */
  /* FIXME: element clock and base_time is rarely changing */
  GST_OBJECT_LOCK (rkv4l2src);
  if ((clock = GST_ELEMENT_CLOCK (rkv4l2src))) {
    /* we have a clock, get base time and ref clock */
    base_time = GST_ELEMENT (rkv4l2src)->base_time;
    gst_object_ref (clock);
  } else {
    /* no clock, can't set timestamps */
    base_time = GST_CLOCK_TIME_NONE;
  }
  GST_OBJECT_UNLOCK (rkv4l2src);

  /* sample pipeline clock */
  if (clock) {
    abs_time = gst_clock_get_time (clock);
    gst_object_unref (clock);
  } else {
    abs_time = GST_CLOCK_TIME_NONE;
  }

retry:
  if (!rkv4l2src->has_bad_timestamp && timestamp != GST_CLOCK_TIME_NONE) {
    struct timespec now;
    GstClockTime gstnow;

    /* v4l2 specs say to use the system time although many drivers switched to
     * the more desirable monotonic time. We first try to use the monotonic time
     * and see how that goes */
    clock_gettime (CLOCK_MONOTONIC, &now);
    gstnow = GST_TIMESPEC_TO_TIME (now);

    if (timestamp > gstnow || (gstnow - timestamp) > (10 * GST_SECOND)) {
      GTimeVal now;

      /* very large diff, fall back to system time */
      g_get_current_time (&now);
      gstnow = GST_TIMEVAL_TO_TIME (now);
    }

    /* Detect buggy drivers here, and stop using their timestamp. Failing any
     * of these condition would imply a very buggy driver:
     *   - Timestamp in the future
     *   - Timestamp is going backward compare to last seen timestamp
     *   - Timestamp is jumping forward for less then a frame duration
     *   - Delay is bigger then the actual timestamp
     * */
    if (timestamp > gstnow) {
      GST_WARNING_OBJECT (rkv4l2src,
          "Timestamp in the future detected, ignoring driver timestamps");
      rkv4l2src->has_bad_timestamp = TRUE;
      goto retry;
    }

    if (rkv4l2src->last_timestamp > timestamp) {
      GST_WARNING_OBJECT (rkv4l2src,
          "Timestamp going backward, ignoring driver timestamps");
      rkv4l2src->has_bad_timestamp = TRUE;
      goto retry;
    }

    delay = gstnow - timestamp;

    if (delay > timestamp) {
      GST_WARNING_OBJECT (rkv4l2src,
          "Timestamp does not correlate with any clock, ignoring driver timestamps");
      rkv4l2src->has_bad_timestamp = TRUE;
      goto retry;
    }

    /* Save last timestamp for sanity checks */
    rkv4l2src->last_timestamp = timestamp;

    GST_DEBUG_OBJECT (rkv4l2src, "ts: %" GST_TIME_FORMAT " now %" GST_TIME_FORMAT
        " delay %" GST_TIME_FORMAT, GST_TIME_ARGS (timestamp),
        GST_TIME_ARGS (gstnow), GST_TIME_ARGS (delay));
  } else {
    /* we assume 1 frame latency otherwise */
    if (GST_CLOCK_TIME_IS_VALID (duration))
      delay = duration;
    else
      delay = 0;
  }

  /* set buffer metadata */

  if (G_LIKELY (abs_time != GST_CLOCK_TIME_NONE)) {
    /* the time now is the time of the clock minus the base time */
    timestamp = abs_time - base_time;

    /* adjust for delay in the device */
    if (timestamp > delay)
      timestamp -= delay;
    else
      timestamp = 0;
  } else {
    timestamp = GST_CLOCK_TIME_NONE;
  }

  /* activate settings for next frame */
  if (GST_CLOCK_TIME_IS_VALID (duration)) {
    rkv4l2src->ctrl_time += duration;
  } else {
    /* this is not very good (as it should be the next timestamp),
     * still good enough for linear fades (as long as it is not -1)
     */
    rkv4l2src->ctrl_time = timestamp;
  }
  gst_object_sync_values (GST_OBJECT (src), rkv4l2src->ctrl_time);

  GST_INFO_OBJECT (src, "sync to %" GST_TIME_FORMAT " out ts %" GST_TIME_FORMAT,
      GST_TIME_ARGS (rkv4l2src->ctrl_time), GST_TIME_ARGS (timestamp));

  /* use generated offset values only if there are not already valid ones
   * set by the v4l2 device */
  if (!GST_BUFFER_OFFSET_IS_VALID (*buf)
      || !GST_BUFFER_OFFSET_END_IS_VALID (*buf)) {
    GST_BUFFER_OFFSET (*buf) = rkv4l2src->offset++;
    GST_BUFFER_OFFSET_END (*buf) = rkv4l2src->offset;
  } else {
    /* adjust raw v4l2 device sequence, will restart at null in case of renegotiation
     * (streamoff/streamon) */
    GST_BUFFER_OFFSET (*buf) += rkv4l2src->renegotiation_adjust;
    GST_BUFFER_OFFSET_END (*buf) += rkv4l2src->renegotiation_adjust;
    /* check for frame loss with given (from v4l2 device) buffer offset */
    if ((rkv4l2src->offset != 0)
        && (GST_BUFFER_OFFSET (*buf) != (rkv4l2src->offset + 1))) {
      guint64 lost_frame_count = GST_BUFFER_OFFSET (*buf) - rkv4l2src->offset - 1;
      GST_WARNING_OBJECT (rkv4l2src,
          "lost frames detected: count = %" G_GUINT64_FORMAT " - ts: %"
          GST_TIME_FORMAT, lost_frame_count, GST_TIME_ARGS (timestamp));

      qos_msg = gst_message_new_qos (GST_OBJECT_CAST (rkv4l2src), TRUE,
          GST_CLOCK_TIME_NONE, GST_CLOCK_TIME_NONE, timestamp,
          GST_CLOCK_TIME_IS_VALID (duration) ? lost_frame_count *
          duration : GST_CLOCK_TIME_NONE);
      gst_element_post_message (GST_ELEMENT_CAST (rkv4l2src), qos_msg);

    }
    rkv4l2src->offset = GST_BUFFER_OFFSET (*buf);
  }

  GST_BUFFER_TIMESTAMP (*buf) = timestamp;
  GST_BUFFER_DURATION (*buf) = duration;

  return ret;

  /* ERROR */
alloc_failed:
  {
    if (ret != GST_FLOW_FLUSHING)
      GST_ELEMENT_ERROR (src, RESOURCE, NO_SPACE_LEFT,
          ("Failed to allocate a buffer"), (NULL));
    return ret;
  }
error:
  {
    gst_buffer_replace (buf, NULL);
    if (ret == GST_V4L2_FLOW_LAST_BUFFER) {
      GST_ELEMENT_ERROR (src, RESOURCE, FAILED,
          ("Driver returned a buffer with no payload, this most likely "
              "indicate a bug in the driver."), (NULL));
      ret = GST_FLOW_ERROR;
    } else {
      GST_DEBUG_OBJECT (src, "error processing buffer %d (%s)", ret,
          gst_flow_get_name (ret));
    }
    return ret;
  }
}


/* GstURIHandler interface */
static GstURIType
gst_rkv4l2src_uri_get_type (GType type)
{
  return GST_URI_SRC;
}

static const gchar *const *
gst_rkv4l2src_uri_get_protocols (GType type)
{
  static const gchar *protocols[] = { "v4l2", NULL };

  return protocols;
}

static gchar *
gst_rkv4l2src_uri_get_uri (GstURIHandler * handler)
{
  GstRKV4l2Src *rkv4l2src = GST_RKV4L2SRC (handler);

  if (rkv4l2src->v4l2object->videodev != NULL) {
    return g_strdup_printf ("v4l2://%s", rkv4l2src->v4l2object->videodev);
  }

  return g_strdup ("v4l2://");
}

static gboolean
gst_rkv4l2src_uri_set_uri (GstURIHandler * handler, const gchar * uri,
    GError ** error)
{
  GstRKV4l2Src *rkv4l2src = GST_RKV4L2SRC (handler);
  const gchar *device = DEFAULT_PROP_DEVICE;

  if (strcmp (uri, "v4l2://") != 0) {
    device = uri + 7;
  }
  g_object_set (rkv4l2src, "device", device, NULL);

  return TRUE;
}


static void
gst_rkv4l2src_uri_handler_init (gpointer g_iface, gpointer iface_data)
{
  GstURIHandlerInterface *iface = (GstURIHandlerInterface *) g_iface;

  iface->get_type = gst_rkv4l2src_uri_get_type;
  iface->get_protocols = gst_rkv4l2src_uri_get_protocols;
  iface->get_uri = gst_rkv4l2src_uri_get_uri;
  iface->set_uri = gst_rkv4l2src_uri_set_uri;
}
